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<li class="navelem"><a class="el" href="dir_df511e5bd85cec96854b39d5e1c27aa8.html">cpp</a></li><li class="navelem"><a class="el" href="dir_bf0f0c8865c1942e08ab5157e2c596db.html">collision</a></li><li class="navelem"><a class="el" href="dir_0695118b3b27d100933d16472a5a2e05.html">include</a></li><li class="navelem"><a class="el" href="dir_d28884e0e9991dd74831dd1628ef4f1a.html">collision</a></li>  </ul>
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<div class="title">raytrace_utils.h</div>  </div>
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<a href="raytrace__utils_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * raytrace_postproc.h</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Created on: Oct 29, 2018</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Author: Vitaliy Rusinov</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> */</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#ifndef CPP_COLLISION_RAYTRACE_UTILS_H_</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#define CPP_COLLISION_RAYTRACE_UTILS_H_</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="line__segment_8h.html">collision/line_segment.h</a>&quot;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="point_8h.html">collision/narrowphase/point.h</a>&quot;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;Eigen/Dense&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecollision.html">collision</a> {</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="keyword">namespace </span>raytrace {</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1raytrace.html#a7cb335e7c302c0f66577263e9cfa9d93">rayTracePrimitive</a>(</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    std::vector&lt;collision::CollisionObjectConstPtr&gt; collision_objects,</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <span class="keyword">const</span> Eigen::Vector2d &amp;point1, <span class="keyword">const</span> Eigen::Vector2d &amp;point2,</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    std::vector&lt;LineSegment&gt; &amp;intersect, <span class="keywordtype">bool</span> remove_overlaps);</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="keywordtype">bool</span> <a class="code" href="namespacecollision_1_1raytrace.html#ad094906ddcf62d4d1dde8ef64fc5f938">rayTracePostprocess</a>(<span class="keyword">const</span> Eigen::Vector2d &amp;point1,</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;                         <span class="keyword">const</span> Eigen::Vector2d &amp;point2,</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;                         std::vector&lt;Eigen::Vector2d&gt; inters1,</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;                         std::vector&lt;LineSegment&gt; &amp;intersect,</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;                         <span class="keyword">const</span> <a class="code" href="classcollision_1_1_collision_object.html">collision::CollisionObject</a> *obj);</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keywordtype">int</span> <a class="code" href="namespacecollision_1_1raytrace.html#a9a83f74b36376cf77bbea1b02498f459">rayTraceRemoveOverlaps</a>(std::vector&lt;LineSegment&gt; intersect,</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;                           std::vector&lt;LineSegment&gt; &amp;out_vec, <span class="keywordtype">int</span> axis = 0);</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;} <span class="comment">// namespace raytrace</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;} <span class="comment">// namespace collision</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* CPP_COLLISION_RAYTRACE_UTILS_H_ */</span><span class="preprocessor"></span></div><div class="ttc" id="point_8h_html"><div class="ttname"><a href="point_8h.html">point.h</a></div></div>
<div class="ttc" id="line__segment_8h_html"><div class="ttname"><a href="line__segment_8h.html">line_segment.h</a></div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_ad094906ddcf62d4d1dde8ef64fc5f938"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#ad094906ddcf62d4d1dde8ef64fc5f938">collision::raytrace::rayTracePostprocess</a></div><div class="ttdeci">bool rayTracePostprocess(const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; Eigen::Vector2d &gt; inters1, std::vector&lt; LineSegment &gt; &amp;intersect, const collision::CollisionObject *obj)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00112">raytrace_utils.cc:112</a></div></div>
<div class="ttc" id="namespacecollision_html"><div class="ttname"><a href="namespacecollision.html">collision</a></div><div class="ttdef"><b>Definition:</b> <a href="collision__checker_8h_source.html#l00020">collision_checker.h:20</a></div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_a9a83f74b36376cf77bbea1b02498f459"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#a9a83f74b36376cf77bbea1b02498f459">collision::raytrace::rayTraceRemoveOverlaps</a></div><div class="ttdeci">int rayTraceRemoveOverlaps(std::vector&lt; LineSegment &gt; intersect, std::vector&lt; LineSegment &gt; &amp;out_vec, int axis=0)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00204">raytrace_utils.cc:204</a></div></div>
<div class="ttc" id="namespacecollision_1_1raytrace_html_a7cb335e7c302c0f66577263e9cfa9d93"><div class="ttname"><a href="namespacecollision_1_1raytrace.html#a7cb335e7c302c0f66577263e9cfa9d93">collision::raytrace::rayTracePrimitive</a></div><div class="ttdeci">bool rayTracePrimitive(std::vector&lt; collision::CollisionObjectConstPtr &gt; collision_objects, const Eigen::Vector2d &amp;point1, const Eigen::Vector2d &amp;point2, std::vector&lt; LineSegment &gt; &amp;intersect, bool remove_overlaps)</div><div class="ttdef"><b>Definition:</b> <a href="raytrace__utils_8cc_source.html#l00080">raytrace_utils.cc:80</a></div></div>
<div class="ttc" id="classcollision_1_1_collision_object_html"><div class="ttname"><a href="classcollision_1_1_collision_object.html">collision::CollisionObject</a></div><div class="ttdoc">Base class for CollisionObjects and some of their groups.</div><div class="ttdef"><b>Definition:</b> <a href="collision__object_8h_source.html#l00047">collision_object.h:47</a></div></div>
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